diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 995e199500..13de7e8eb6 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -292,7 +292,7 @@ void Rover::one_second_loop(void)
 
     // need to set "likely flying" when armed to allow for compass
     // learning to run
-    ahrs.set_likely_flying(hal.util->get_soft_armed());
+    set_likely_flying(hal.util->get_soft_armed());
 
     // send latest param values to wp_nav
     g2.wp_nav.set_turn_params(g.turn_max_g, g2.turn_radius, g2.motors.have_skid_steering());